One-man riding mobile apparatus

ABSTRACT

A one-man riding mobile apparatus includes a plurality of wheels, a board-shaped boarding base to which the wheels are attached, a motor that drives at least a part of the wheels and provided on the boarding base, a plurality of load sensors provided on the boarding base, a plurality of vibrators provided on the boarding base, and a control circuit that performs driving control of the motor and driving control of the vibrators. The control circuit is provided on the boarding base and includes a center-of-gravity position detecting section that detects presence of weighting and a center-of-gravity position based on signals output from the load sensors, a motor driving control section that controls a driving operation of the motor depending on the presence of the weighting and the center-of-gravity position detected by the center-of-gravity position detecting section, and a vibrator driving control section.

TECHNICAL FIELD

The present invention relates generally to a one-man riding mobileapparatus and more particularly to a mobile apparatus capable ofcarrying out running control by movement of a center of gravity of aperson.

BACKGROUND ART

In recent years, attention is paid to a so-called “personal mobility(one-man riding mobile apparatus)” as a mobile apparatus of a new typewhich runs with a person carried. A typical example of the personalmobility includes Segway (registered trademark) which has already beenavailable on the market. Moreover, an experimental car of the personalmobility is provided from each of companies, for example, TOYOTA, HONDA,SUZUKI and the like. In these personal mobilities, it is possible toadjust direct advance or turns by simply inclining a body to move acenter of gravity.

Moreover, a personal mobility having such a style as to ride on askateboard is also proposed (for example, see Patent Documents 1 to 4).Also in the personal mobilities described in the Patent Documents 1 to4, it is possible to carry out running control by movement of a centerof gravity of a person. The personal mobilities described in the PatentDocuments 1 to 4 have smaller sizes as compared with commerciallyavailable cars or experimental cars which are offered from therespective companies. Therefore, they are relatively suitable forcarrying and storage even if there are deficiencies.

Patent Document 1: Japanese Laid-Open Patent Publication No. 2004-345608

Patent Document 2: Japanese Laid-Open Patent Publication No. 2004-359094

Patent Document 3: Japanese Laid-Open Patent Publication No. 2006-217952

Patent Document 4: Japanese Laid-Open Patent Publication No. 2006-256401

In the technologies described in the Patent Documents 1 to 4, a motionof a personal mobility such as a turning angle or a running speed isdetermined depending on any position on a board to which a center ofgravity is to be moved. However, the center of gravity is required to bemoved sensibly by a boarding person. In some cases, therefore, a motionof the personal mobility intended or predicted by the boarding person isnot coincident with an actual motion of the personal mobility which isvaried depending on a position of the center of gravity on the board.For this reason, it is difficult for the boarding person to steer thepersonal mobility as intended by himself or herself.

SUMMARY OF THE INVENTION

One or more embodiments of the present invention may provide a one-manriding mobile apparatus of such a structure type as to have a wheeldisposed on a board-shaped boarding base in which running control can becarried out by movement of a center of gravity of a boarding person, inwhich a motion of the one-man riding mobile apparatus that is varieddepending on presence of weighting for the boarding base or the positionof the center of gravity on the boarding base is transmitted clearly tothe boarding person, thereby enabling the boarding person to steer theone-man riding mobile apparatus as intended by the boarding personhimself or herself.

One or more embodiments of the present invention may include a pluralityof load sensors provided on a board-shaped boarding base, a plurality ofvibrators provided on the boarding base, and a control circuit forcarrying out driving control of the vibrators. In the control circuit,presence of weighting and a center-of-gravity position may be detectedbased on signals output from the load sensors, and the driving operationof the vibrators may be controlled in response to a motion of theone-man riding mobile apparatus which is varied depending on thepresence of the weighting and the center-of-gravity position that aredetected.

According to one or more embodiments of the present invention having thestructure described above, for example, when the boarding person rideson the one-man riding mobile apparatus to carry out running control bythe movement of the center of gravity, the presence of the weighting onthe load sensor and the center-of-gravity position on the boarding baseat that time are detected and a vibration corresponding to the motion ofthe one-man riding mobile apparatus which is to be varied depending onthe presence of the weighting and the center-of-gravity position istransmitted to the boarding person by the vibrators. Consequently, inone or more embodiments, the boarding person can grasp the motion of theone-man riding mobile apparatus which is varied depending on thepresence of the weighting and the center-of-gravity position through thevibration transmitted from a bottom of a foot, thereby steering theone-man riding mobile apparatus as intended by himself or herself.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic perspective view showing an external appearance ofa one-man riding mobile apparatus (a personal mobility) according to oneor more embodiments of the present invention.

FIG. 2 is a view showing an external shape of the one-man riding mobileapparatus according to one or more embodiments of the present invention,a) being a front view, (b) being a side view, (c) being a plan view and(d) being a bottom view.

FIG. 3 is a view showing an example of a structure of a boarding baseaccording to one or more embodiments of the present invention, (a) beinga view showing a chassis and (b) being a view showing an upper cover.

FIG. 4 is a schematic view showing each deformed structure provided inthe boarding base according to one or more embodiments of the presentinvention.

FIG. 5 is a plan view showing a relationship among a load sensor, avibrator and a defined position according to one or more embodiments ofthe present invention.

FIG. 6 is a block diagram showing an example of a functional structureprovided in a control circuit according to one or more embodiments ofthe present invention.

FIG. 7 is a view showing an example of a center-of-gravity positionwhich is detected by a center-of-gravity position detecting sectionaccording to one or more embodiments of the present invention.

FIGS. 8( a)-(c) are views showing an example of control of a steeringangle which is to be carried out by a motor driving control sectiondepending on an X coordinate of the center-of-gravity position accordingto one or more embodiments of the present invention.

FIG. 9 is a view showing an example of control of a running speed or adirection of movement which is to be carried out by the motor drivingcontrol section depending on a Y coordinate of the center-of-gravityposition according to one or more embodiments of the present invention.

DETAILED DESCRIPTION OF THE EMBODIMENTS OF THE INVENTION

One or more embodiments according to the present invention will bedescribed below with reference to the drawings. FIG. 1 is a schematicperspective view showing an external appearance of a one-man ridingmobile apparatus (a personality mobility) according to one or moreembodiments. Moreover, FIG. 2 is a view showing an external shape of theone-man riding mobile apparatus according to one or more embodiments,and (a) is a front view, (b) is a side view, (c) is a plan view and (d)is a bottom view.

As shown in FIGS. 1 and 2, the one-man riding mobile apparatus accordingto one or more embodiments is of a structure type in which wheels 21 and22 are provided on a board-shaped boarding base 10 and can carry outrunning control by movement of a center of gravity of a boarding person.In other words, the boarding person performs boarding in a rising statewith both feet put on the boarding base 10 and moves the center ofgravity longitudinally and transversely, thereby enabling directadvance, lateral turns and a running speed to be controlled.

As shown in FIG. 2( d), the one-man riding mobile apparatus according toone or more embodiments includes four wheels 21 and 22. Two front wheels21 in the four wheels 21 and 22 are driving wheels to be drivenindependently by two motors (not shown) provided in the boarding base10, respectively. Moreover, the two residual rear wheels 22 are castersof such a type that rotation can be carried out freely by 360 degrees.The caster to be used for the rear wheel 22 may be a double wheel casterof such a type that two wheels are arranged in parallel and are thusused like a single wheel.

The boarding base 10 has the four wheels 21 and 22 attached to a bottompart thereof, and furthermore, accommodates a motor for driving the twodriving wheels 21, a control circuit and a battery (which are notshown). The boarding base 10 has an almost rectangular plane and thefour wheels 21 and 22 are attached to the vicinity of four cornersthereof. Consequently, it is possible to ensure a running stability whenthe boarding person rides on the one-man riding mobile apparatus.

The boarding base 10 is configured from a chassis 11 for accommodatingthe motor, the control circuit and the battery therein, and an uppercover 12 to be put on the chassis 11. FIG. 3 is a view showing anexample of a structure of the boarding base 10, and (a) shows thechassis 11 and (b) shows the upper cover 12. Moreover, FIG. 4 is aschematic view showing each deformed structure provided on the boardingbase 10 (which will be specifically described later).

As shown in FIG. 3( a), the chassis 11 includes a motor housing 13 foraccommodating the motor and a circuit housing 14 for accommodating thebattery and the control circuit. Moreover, a space 15 for a front wheeland a space 16 for a rear wheel are formed on four corners of thechassis 11. The space 15 for a front wheel serves to attach the drivingwheel 21 to be the front wheel. The space 16 for a rear wheel serves toattach the caster 22 to be the rear wheel.

On the other hand, the upper cover 12 takes a shape of a box in whichalmost perpendicular side walls to the board are provided on four sidesof the board taking the almost rectangular shape as shown in FIG. 3( b).The reason is that the upper cover 12 is to be prevented from beingflexed easily by a weight when a boarding person rides on the uppercover 12. As a matter of course, it is also possible to prevent theupper cover 12 from being flexed by constituting the upper cover 12 by ametallic material having great rigidity or increasing a thickness of theupper cover 12.

The one-man riding mobile apparatus according to one or more embodimentsincludes a plurality of load sensors 41 provided on the boarding base10. As shown in FIGS. 3( a) and 4, four load sensors 41 are provided inthe vicinity of the four corners of the boarding base 10 (morespecifically, a surface of the chassis 11 on a side where the uppercover 12 is to be attached). In one or more embodiments, the load sensor41 takes a rectangular shape having a thickness of approximately 0.5 mmand a surface thereof is covered with an aluminum plate 42 which is thinin a thickness of 1 mm or less.

On the other hand, the upper cover 12 includes struts 43 in opposedpositions to the four load sensors 41 over an opposed surface to thechassis 11 (a back face of the upper cover 12) as shown in FIGS. 3( b)and 4. The strut 43 takes a cylindrical shape having a height ofapproximately 1 mm and has a circular sectional area which is smallerthan an area of the load sensor 41. When the upper cover 12 is put onthe chassis 11, the opposed surfaces of the chassis 11 and the uppercover 12 are brought into a non-contact state over surfaces other thanthe strut 43 by the strut 43.

As described above, the upper cover 12 takes the shape of the box so asnot to be easily flexed for the following reason. More specifically, thechassis 11 and the upper cover 12 are to maintain the non-contact stateover the surface other than the strut 43 even if the boarding personrides on the upper cover 12. In other words, weighting is to beaccurately carried out for the load sensor 41 by a weight of theboarding person through the strut 43 when the boarding person rides onthe upper cover 12.

As described above, moreover, the surface of the load sensor 41 iscovered with the thin aluminum plate 42 for the following reason. Morespecifically, force applied to the strut 43 having a smaller area thanthe load sensor 41 is to be dispersed into a wide range by the aluminumplate 42, thereby carrying out uniform weighting over the whole surfaceof the load sensor 41. In the case in which the load sensor 41 takes ashape of a button battery having a circular section and a diameterthereof and a diameter of the strut 43 are designed to be almost equalto each other, it is possible to omit the aluminum plate 42. Also in thecase in which the strut 43 is set to take a shape of a square pole and asectional area thereof and the area of the load sensor 41 are designedto be almost equal to each other, alternatively, it is possible to omitthe aluminum plate 42.

As shown in FIG. 4, moreover, the one-man riding mobile apparatusaccording to one or more embodiments has a plurality of vibrators 44provided on the boarding base 10. The vibrator 44 takes a shape of abutton battery having a circular section. In one or more embodiments,furthermore, a vibration blocking member 45 is provided around thevibrators 44 respectively. The vibration blocking member 45 serves toblock transmission of a vibration generated by the vibrator 44. Thevibration blocking member 45 is constituted by a ring-shaped rubber, forexample.

As shown in FIG. 3( b), circular holes 47 for accommodating thevibrators 44 are formed on the back face of the upper cover 12. Thevibrator 44 and the ring-shaped vibration blocking member 45 providedtherearound are accommodated in the circular hole 47 formed on the backface of the upper cover 12.

As shown in FIGS. 3( b) and 4, four vibrators 44 are provided in closepositions to a center of the upper cover 12 from the load sensors 41(the struts 43 opposed thereto), that is, positions opposed to a sole ofa foot when a person rides on a defined position of the upper cover 12.

FIG. 5 is a plan view showing a relationship among the load sensor 41,the vibrator 44 and the defined position of the upper cover 12 where aperson rides. As shown in FIG. 5, the four load sensors 41 are providedin the vicinity of the four corners of the boarding base 10 (the chassis11). Moreover, the four vibrators 44 are provided in close positions tothe center from the four corners of the boarding base 10 (the uppercover 12), that is, the close positions to the center from the four loadsensors 41.

The positions of the vibrators 44 are placed close to the center of theupper cover 12 from the load sensors 41 because the load sensors 41 areprovided in the vicinity of the four corners of the boarding base 10. Byproviding the load sensors 41 on an inside of the four corners of theboarding base 10, it is not necessary to always place the position ofthe vibrator 44 close to the center from the load sensor 41 if there isa space for installing the vibrator 44 at an outside of the load sensor41.

Moreover, a defined position 50 on which a person is to ride is a placewhere both feet are naturally positioned when the person rises on theupper cover 12 in a state in which the both feet are opened in anapproximately shoulder length in parallel with each other. The vibrator44 may be provided directly under the defined position 50. The twovibrators 44 may be provided in the vicinity of a portion directly underthenars of the both feet, and the two residual vibrators 44 may beprovided in the vicinity of a portion directly under heels of the bothfeet. The reason is that a vibration generated by the vibrator 44 caneasily be transmitted to the sole of the foot of the boarding personrising in the defined position 50. In one or more embodiments, moreover,the vibration blocking member 45 is provided around the vibrator 44.Therefore, any position where a vibration is generated by the vibrator44 can easily be transmitted to the sole of the foot of the boardingperson.

In the example shown in FIG. 5, for instance, a size of the boardingbase 10 is designed such that a part of a tiptoe and a part of the heelare slightly protruded from the boarding base 10 when an adult male (anaverage value of a shoe size is 26.5 cm) rides on the defined position50 of the boarding base 10. For example, the boarding base 10 may beconstituted in an almost paper A4 size. The reason is that it is easierto take a center of gravity (or to carry out the center-of-gravitymovement) in a slight protruding state of the tiptoe portion or the heelportion from the boarding base 10 as compared with a flat foot state inwhich a whole surface of the sole of the foot touches the boarding base10.

If the boarding base 10 is constituted in the almost paper A4 size,moreover, the defined position 50 is placed in the peripheral part ofthe boarding base 10 as shown in FIG. 5. The peripheral part is aportion in which a strength of the upper cover 12 (a flexure resistanceto weighting) is the greatest. Therefore, it is also possible to have anadvantage that the upper cover 12 can be formed as thinly as possible,resulting in reduction in a weight.

When the weighting is applied to the upper cover 12, furthermore, astress is generated on the chassis 11 by reaction thereof. When theboarding base 10 is constituted in the almost paper A4 size so that thedefined position 50 is placed in the peripheral part of the boardingbase 10, the stress generated by the weighting in the peripheral part isincreased most greatly in the peripheral part of the chassis 11.Consequently, the chassis 11 itself is also flexed with difficulty.Therefore, it is also possible to form the chassis 11 as thinly aspossible, thereby reducing the weight.

The control circuit (not shown) accommodated in the boarding base 10inputs a signal output from the load sensor 41, thereby carrying out thedriving control of the motor and the driving control of the vibrator 44.FIG. 6 is a block diagram showing an example of a functional structureprovided in the control circuit. As shown in FIG. 6, the control circuitprovided in the one-man riding mobile apparatus according to one or moreembodiments includes, as a functional structure thereof, acenter-of-gravity position detecting section 61, a motor driving controlsection 62 and a vibrator driving control section 63.

The respective functional structures 61 to 63 can be implemented by allof a hardware configuration, a DSP (Digital Signal Processor) andsoftware. For example, in the case in which they are implemented by thesoftware, the respective functional structures 61 to 63 actually includea CPU, an RAM, an ROM and the like and can be implemented by anoperation of a program stored in the RAM or the ROM. A recording mediumstoring the program is not restricted thereto.

The center-of-gravity position detecting section 61 detects presence ofweighting by the boarding person and a center-of-gravity position of theboarding person over the boarding base 10 based on signals output fromthe load sensors 41. More specifically, the center-of-gravity positiondetecting section 61 detects the presence of the weighting based on thesignals output from the load sensors 41, and furthermore, detects thecenter-of-gravity position by an interpolating operation. FIG. 7 is aview showing an example of the center-of-gravity position detected bythe center-of-gravity position detecting section 61. As shown in FIG. 7,two-dimensional coordinates (X-Y coordinates) with a center position ofthe boarding base 10 as an origin O are set onto the plane of theboarding base 10. In this case, all of the four load sensors 41 arepositioned at an equal distance from the origin O.

Over the coordinate plane shown in FIG. 7, the load sensors 41 disposedin first to fourth quadrants are classified as designations 41 ⁻¹ to 41⁻⁴ respectively. Loads (pressures) detected by the load sensors 41 ⁻¹ to41 ⁻⁴ are represented by W⁻¹ to W⁻⁴, respectively. From the origin O tothe respective load sensors 41 ⁻¹ to 41 ⁻⁴, moreover, distances in anX-axis direction are represented by x (which are equal to each other)and distances in a Y-axis direction are represented by y (which areequal to each other).

In this case, a center-of-gravity position G (x_(G), y_(G)) detected bythe center-of-gravity position detecting section 61 is obtained based onsignals W⁻¹ to W⁻⁴ output from the respective load sensors 41 ⁻¹ to 41⁻⁴.

x _(G) =x(W ⁻¹ +W ⁻⁴)/W−x(W ⁻² +W ⁻³)/W

y _(G) =y(W ⁻¹ +W ⁻²)/W−y(W ⁻³ +W ⁻⁴)/W

W=W ⁻¹ +W ⁻² +W ⁻³ +W ⁻⁴

The motor driving control section 62 controls the driving operation oftwo motors connected to the driving wheel 21 to be the front wheeldepending on the presence of the weighting and the center-of-gravityposition G of the boarding base 10 which are detected by thecenter-of-gravity position detecting section 61. In other words, themotor driving control section 62 drives the two motors to start theone-man riding mobile apparatus when the weighting is detected by thecenter-of-gravity position detecting section 61.

When the motor is driven to start the one-man riding mobile apparatusimmediately after the weighting is detected by the center-of-gravityposition detecting section 61 (immediately after the boarding personrides on the boarding base 10), however, there is a fear that theboarding person might lose balance. For this reason, the drivingoperation of the motor may be started in a predetermined time (forexample, in 1.5 seconds) after the weighting is detected by thecenter-of-gravity position detecting section 61.

After the one-man riding mobile apparatus is started, the motor drivingcontrol section 62 controls an extent of a torque in which either of thetwo motors is to be driven depending on the center-of-gravity position Gdetected by the center-of-gravity position detecting section 61. Morespecifically, the motor driving control section 62 controls a steeringangle by the driving operation of the motor depending on the Xcoordinate of the center-of-gravity position G and controls a runningspeed or a direction of movement by the driving operation of the motordepending on the Y coordinate of the center-of-gravity position G

FIG. 8 is a view showing an example of the control of the steering anglewhich is to be carried out depending on the X coordinate of thecenter-of-gravity position G by the motor driving control section 62according to one or more embodiments. Referring to the X coordinate ofthe center-of-gravity position G, for example, a portion from a negativemaximum value to a positive maximum value is divided into three regions81 to 83, and the torque of the motor is controlled such that a leftturn is performed when the center-of-gravity position G is placed in thefirst region 81 in which a value of the X coordinate is the smallestnegative value, a right turn is performed when the center-of-gravityposition G is placed in the third region 83 in which the value of the Xcoordinate is the positive greatest value, and a direct advance isperformed when the center-of-gravity position G is placed in the secondregion 82 therebetween as shown in FIG. 8.

In other words, in the case in which the X coordinate of thecenter-of-gravity position G approximates to zero (for example, in thecase in which the center-of-gravity position G is placed in the secondregion 82 in which the value of the X coordinate is −x₁ to +x₁) as shownin FIG. 8( b), the motor driving control section 62 drives the twomotors (that is, the left and right driving wheels 21) in an equaltorque. Consequently, the one-man riding mobile apparatus advancesdirectly.

In the case in which the value of the X coordinate of thecenter-of-gravity position G is smaller than −x₁ (in the case in whichthe center-of-gravity position G is placed in the first region 81) asshown in FIG. 8( a), moreover, the motor driving control section 62drives the motor of the right wheel in a greater torque than the motorof the left wheel. Consequently, the one-man riding mobile apparatusturns in a leftward direction. At this time, an angle of the left turnis determined depending on a difference between left and right torques.The difference between the torques of the left and right motors isdetermined depending on the value of the X coordinate of thecenter-of-gravity position G.

In one or more embodiments, only the front wheel is set to be thedriving wheel 21 and the rear wheel is set to be the caster 22. Bydriving only the motor of the right wheel without driving the motor ofthe left wheel, therefore, it is also possible to carry out a pivotalturn in a leftward direction in that place (a turn setting thenon-driven left wheel as a rotation center). By driving the motor of theleft wheel and the motor of the right wheel in an equal torque inreverse directions to each other, alternatively, it is also possible tocarry out a counter pivotal turn in the leftward direction in that place(a turn setting centers of the two driving wheels 21 as rotationcenters).

In the case in which the X coordinate of the center-of-gravity positionG is greater than x₁ (in the case in which the center-of-gravityposition G is placed in the third region 83) as shown in FIG. 8( c),moreover, the motor driving control section 62 drives the motor of theleft wheel in a greater torque than the motor of the right wheel.Consequently, the one-man riding mobile apparatus turns in a rightwarddirection. At this time, an angle of the right turn is determineddepending on a difference between left and right torques. Also in thiscase, the difference between the torques of the left and right motors isdetermined depending on the value of the X coordinate of thecenter-of-gravity position G. By driving only the motor of the leftwheel without driving the motor of the right wheel, it is also possibleto carry out the pivotal turn in the rightward direction. By driving themotor of the left wheel and the motor of the right wheel in an equaltorque in reverse directions to each other, alternatively, it is alsopossible to carry out the counter pivotal turn in the rightwarddirection in that place.

FIG. 9 is a view showing an example of control of a running speed or andirection of movement which is to be carried out depending on the Ycoordinate of the center-of-gravity position G Referring to the Ycoordinate of the center-of-gravity position G, a portion from anegative maximum value to a positive maximum value is divided into threeregions 91 to 93, and the torque of the motor is controlled such thatacceleration is performed when the center-of-gravity position G isplaced in the first region 91 in which a value of the Y coordinate isgreater than y₁, deceleration is performed when the center-of-gravityposition G is placed in the third region 93 in which the value of the Ycoordinate is smaller than −y₂, and a speed is equal when thecenter-of-gravity position G is placed in the second region 92therebetween as shown in FIG. 9.

The example of the control described therein is only illustrative. Forexample, the first to third regions 91 to 93 may be divided equally andthe torque of the motor may be controlled such that forward movement isperformed when the center-of-gravity position G is placed in the firstregion 91, stop is performed when the center-of-gravity position G isplaced in the second region 92, and backward movement is performed whenthe center-of-gravity position G is placed in the third region 93. Inthis case, the motor driving control section 62 increases a positivetorque to be applied to the motor when the value of the Y coordinate ofthe center-of-gravity position G is increased in the first region 91.Moreover, the motor driving control section 62 increases a negativetorque to be applied to the motor when the value of the Y coordinate ofthe center-of-gravity position G is reduced (an absolute value isincreased) in the third region 93.

The vibrator driving control section 63 controls the driving operationof the vibrators 44 depending on the presence of the weighting and thecenter-of-gravity position G which are detected by the center-of-gravityposition detecting section 61. In other words, the vibrator drivingcontrol section 63 controls an extent of force in which any of the fourvibrators 44 is to be driven depending on the presence of the weightingand the center-of-gravity position G which are detected by thecenter-of-gravity position detecting section 61.

More specifically, the vibrator driving control section 63 drives thefour vibrators 44 to inform the boarding person of the start of theone-man riding mobile apparatus when the weighting is detected by thecenter-of-gravity position detecting section 61. For example, thevibrator driving control section 63 drives the four vibrators 44 twiceevery 0.5 second after the weighting is detected by thecenter-of-gravity position detecting section 61. The motor drivingcontrol section 62 starts to drive the motor after 0.5 second passes.Consequently, the boarding person can prepare for the start (a mentalattitude or posture taking) while feeling rhythm by two vibrationstransmitted to the sole of the foot through the vibrator 44 after ridingon the boarding base 10.

After the one-man riding mobile apparatus starts, the vibrator drivingcontrol section 63 controls either of the left and right vibrators 44which is to be driven depending on the X coordinate of thecenter-of-gravity position G and driving force thereof, and furthermore,controls either of the front and rear vibrators 44 which is to be drivendepending on the Y coordinate of the center-of-gravity position G anddriving force thereof. Moreover, driving rhythm, tempo, timing or thelike may be controlled.

For example, the vibrator driving control section 63 drives the twovibrators 44 on the front side in the acceleration of the one-man ridingmobile apparatus. At this time, the vibrator driving control section 63drives the vibrator 44 while the acceleration is performed, andintermittently carries out the driving operation by changing the rhythmdepending on a running speed like a beat in vibration rhythm of “ton,ton, ton, tototototo”, for example. When the highest speed is reached,the one-man riding mobile apparatus has a constant speed. For thisreason, the vibrator driving control section 63 stops the drivingoperation of the vibrator 44 at that time.

In the deceleration of the one-man riding mobile apparatus, moreover,the vibrator driving control section 63 drives the two vibrators 44 onthe rear side. At this time, the vibrator driving control section 63drives the vibrator 44 while the deceleration is carried out, andcontinuously vibrates the vibrator 44, for example, causes the vibrator44 to make a beep in vibration rhythm of “boo”. Moreover, the vibratordriving control section 63 varies driving (vibration) force depending ona deceleration amount. For example, in the case in which thedeceleration is greatly carried out, the vibrator 44 is vibratedlargely.

In the turn in the rightward direction of the one-man riding mobileapparatus (which is not the pivotal turn or the counter pivotal turn),moreover, the vibrator driving control section 63 drives the twovibrators 44 on the right side, for example. At this time, the drivingforce is controlled in proportion to a distance from the origin O to thecenter-of-gravity position G for example. In the same manner as in thedeceleration, the two vibrators 44 on the right side are continuouslyvibrated greatly with a beep in vibration rhythm of “boo” when a rightturn is to be performed largely, for instance.

On the other hand, in the turn in the leftward direction of the one-manriding mobile apparatus (which is not the pivotal turn or the counterpivotal turn), the vibrator driving control section 63 drives the twovibrators 44 on the left side, for example. At this time, the drivingforce is controlled in proportion to the distance from the origin O tothe center-of-gravity position G, for example. For instance, the twovibrators 44 on the left side are continuously vibrated greatly with abeep in vibration rhythm of “boo” when a left turn is to be performedlargely.

In the pivotal turn or the counter pivotal turn of the one-man ridingmobile apparatus, moreover, the vibrator driving control section 63drives the four vibrators 44 in a rotating pattern in order.

The method of driving the vibrator 44 described above is onlyillustrative and the present invention is not restricted to theparticular driving method. For example, in the turn of the one-manriding mobile apparatus (which is not the pivotal turn or the counterpivotal turn), the vibrator driving control section 63 may drive onlyone vibrator 44 on the front side (one of the left and right vibrators44 depending on a turning direction) if the distance from the origin Oto the center-of-gravity position G is equal to or smaller than apredetermined value (that is, if a turning accuracy is equal to orsmaller than a predetermined angle), and may drive the two vibrators 44on the front and rear sides (two vibrators 44 on the left or right sidedepending on the turning direction) if the distance from the origin O tothe center-of-gravity position G is greater than the predetermined value(that is, if the turning accuracy is greater than the predeterminedangle).

Furthermore, the vibrator 44 does not need to be always driven for apredetermined time immediately after the start of the one-man ridingmobile apparatus regardless of the center-of-gravity position G Asdescribed above, even if the vibrator 44 is intermittently vibratedtwice to give a notice of the start immediately before the start of theone-man riding mobile apparatus, there is a possibility that the centerof gravity of the boarding person might be tilted toward the rear sideby law of inertia immediately after the start. Accordingly, in one ormore embodiments, the vibrator driving control section 63 may not drivethe vibrator 44 for the predetermined time taken immediately after thestart. Correspondingly, in one or more embodiments, the motor drivingcontrol section 62 may not perform the driving control (deceleration) ofthe motor depending on the center-of-gravity position G for thepredetermined time taken immediately after the start but the drivingcontrol of the motor to carry out gradual acceleration to reach acertain speed.

As described above in detail, in one or more embodiments, there areprovided the load sensors 41 disposed on the board-shaped boarding base10, the vibrators 44 disposed on the boarding base 10 and the controlcircuit for carrying out the driving control of the vibrators 44. In thecontrol circuit, the presence of the weighting through the boardingperson and the center-of-gravity position G of the boarding person aredetected based on the signals output from the load sensors 41, and thedriving operation of the vibrators 44 is controlled depending on thepresence of the weighting and the center-of-gravity position G which aredetected.

According to one or more embodiments thus configured, when the boardingperson rides on the one-man riding mobile apparatus to carry out runningcontrol by the movement of the center of gravity, the presence of theweighting to the load sensor 41 and the center-of-gravity position onthe boarding base 10 at that time are detected and a vibrationcorresponding to the motion of the one-man riding mobile apparatus whichis varied depending on the presence of the weighting and thecenter-of-gravity position is transmitted to the boarding person by thevibrators 44. Consequently, the boarding person can grasp the motion ofthe one-man riding mobile apparatus which is varied depending on thepresence of the weighting or the center-of-gravity position by thevibration transmitted from a bottom of a foot, thereby steering theone-man riding mobile apparatus as intended by himself or herself.

In one or more embodiments, moreover, the plane of the boarding base 10takes the almost rectangular shape in the approximately paper A4 size.Therefore, the defined position 50 on which the foot of the boardingperson rides can be determined almost uniquely. The four vibrators 44are provided directly under the defined position 50. Therefore, themotion of the one-man riding mobile apparatus which is varied dependingon the presence of the weighting or the center-of-gravity position G canbe transmitted clearly to the boarding person by the vibrators 44 in anumber which is as small as possible. In one or more embodiments,moreover, the vibration blocking member 45 is provided around thevibrator 44. Therefore, any position in which the vibration is generatedby the vibrator 44 can be transmitted more clearly to the boardingperson.

Since the plane of the boarding base 10 has the almost paper A4 size,there is also an advantage that it is easy to get on/off the boardingbase 10. In addition, this is very convenient to put the boarding base10 in a bag or the like and carry them. According to the driving methodby the motor driving control section 62, the motor is not driven whenthe person does not ride on the boarding base 10, and direct advance isstarted if the person rides on the boarding base 10 to move the centerof gravity in a forward direction. Therefore, it is possible to easilyemploy a flexible using method of taking the one-man riding mobileapparatus according to one or more embodiments out of the bag andbriefly getting thereon in a desirable place and briefly getting off theone-man riding mobile apparatus after running and putting the one-manriding mobile apparatus into the bag again, for example.

In one or more embodiments, moreover, there is employed the structure inwhich the upper cover 12 takes the shape of the box and is flexed withdifficulty against weighting from above. Therefore, it is possible toprevent the upper cover 12 from being flexed to come in contact with thechassis 11 on the opposed surface other than the strut 43 when a personrides. Accordingly, it is not necessary to constitute the upper cover 12by a metallic material having great rigidity or to excessively thickenthe upper cover 12. Consequently, it is possible to contribute toreduction in the weight of the one-man riding mobile apparatus and toeasily carry the one-man riding mobile apparatus in respect of theweight as well as the size.

Although there has been described the example in which the load sensor41 is provided on the chassis 11, while the strut 43 is provided on theupper cover 12, the present invention is not restricted thereto. To thecontrary, the strut 43 may be provided on the chassis 11, while the loadsensor 41 may be provided on the upper cover 12.

Although there has been described the example in which the strut 43 isprovided to prevent the upper cover 12 from being flexed to come incontact with the chassis 11, moreover, the present invention is notrestricted thereto. For example, it is also possible to employ astructure in which a base having a predetermined thickness is providedon four corners of the chassis 11 or the upper cover 12 (positions inwhich the load sensor 41 and the aluminum plate 42 are provided) so thatthe opposed surfaces of the chassis 11 and the upper cover 12 arebrought into a non-contact state over a surface other than the base.

Although there has been described the example in which the four loadsensors 41 are provided, moreover, this is only illustrative and thepresent invention is not restricted to the number. Although there hasbeen described the example in which the four vibrators 44 are provided,furthermore, this is only illustrative and the present invention is notrestricted to the number. Although there has been described the examplein which the driving wheel 21 is driven by the two motors, moreover,this is only illustrative and the present invention is not restricted tothe number.

Although there has been described the example in which the two frontwheels and the two rear wheels in the four wheels are set to be thedriving wheels 21 and the casters 22, furthermore, the present inventionis not restricted thereto. For example, the front wheel and the rearwheel may be reversed. In addition, the four wheels may be configuredfrom the driving wheels 21. If all of the four wheels are configuredfrom the driving wheels 21, however, it is necessary to additionallyprovide a motor, resulting in an increase in the weight of the one-manriding mobile apparatus. Moreover, in one or more embodiments, there maybe a disadvantage that a pivotal turn or a counter pivotal turn cannotbe performed due to friction of the wheel 21, the wheel 21 is damaged byapplication of a great load thereto or a floor is damaged. Inconsideration of these respects, two of them may be set to be thedriving wheels 21 and two residual ones may be set to be the casters 22which can be rotated by 360 degrees.

In addition, the one or more embodiments discussed herein are onlyillustrative for concreteness to carry out the present invention and thetechnical scope of the present invention should not be thereby construedto be restrictive. In other words, the present invention can be carriedout in various configurations without departing from the gist or mainfeatures thereof.

EXPLANATION OF DESIGNATION

10 boarding base

11 chassis

12 upper cover

21 driving wheel

22 caster

41 load sensor

42 aluminum plate

43 strut

44 vibrator

45 vibration blocking member

50 defined position in which person rides

61 center-of-gravity position detecting section

62 motor driving control section

63 vibrator driving control section

1. A one-man riding mobile apparatus comprising: a plurality of wheels;a board-shaped boarding base to which the wheels are attached; a motorthat drives at least a part of the wheels and provided on the boardingbase; a plurality of load sensors provided on the boarding base; aplurality of vibrators provided on the boarding base; and a controlcircuit that performs driving control of the motor and driving controlof the vibrators, wherein the control circuit is provided on theboarding base and comprises: a center-of-gravity position detectingsection that detects presence of weighting and a center-of-gravityposition based on signals output from the load sensors; a motor drivingcontrol section that controls a driving operation of the motor dependingon the presence of the weighting and the center-of-gravity positiondetected by the center-of-gravity position detecting section; and avibrator driving control section that controls a driving operation ofthe vibrators based on the presence of the weighting and thecenter-of-gravity position detected by the center-of-gravity positiondetecting section.
 2. The one-man riding mobile apparatus according toclaim 1, wherein the vibrators are provided in opposed positions to asole of a foot when a person rides on a defined position of the boardingbase, and the vibrator driving control section controls an extent offorce to drive any of the vibrators depending on the presence of theweighting and the center-of-gravity position which are detected by thecenter-of-gravity position detecting section.
 3. The one-man ridingmobile apparatus according to claim 1, wherein a vibration blockingmember for blocking transmission of a vibration generated by thevibrators is provided around the vibrators, respectively.
 4. The one-manriding mobile apparatus according to claim 1, wherein the boarding basehas a plane configured in a rectangular shape having a sizesubstantially equal to an A4-sized sheet of paper.
 5. The one-man ridingmobile apparatus according to claim 4, wherein the load sensors areprovided in the vicinity of four corners of the boarding base, and thecenter-of-gravity position detecting section detects thecenter-of-gravity position by an interpolating operation based on thesignals output from the load sensors.
 6. The one-man riding mobileapparatus according to claim 1, wherein the boarding base is configuredfrom a chassis for accommodating the motor and the control circuit andan upper cover to be put on the chassis, and the upper cover takes ashape of a box in which almost perpendicular side walls to the board areprovided on four sides of a board taking an almost rectangular shape. 7.The one-man riding mobile apparatus according to claim 6, wherein theload sensors are provided on either the chassis or the upper cover and abase is provided in a position in which the load sensor is to bedisposed, and opposed surfaces of the chassis and the upper cover arebrought into a non-contact state over a surface other than the base. 8.The one-man riding mobile apparatus according to claim 6, wherein theload sensors are provided on either the chassis or the upper cover and astrut is provided in opposed positions to the load sensors througheither the chassis or the upper cover, and opposed surfaces of thechassis and the upper cover are brought into a non-contact state over asurface other than the strut.
 9. The one-man riding mobile apparatusaccording to claim 1, wherein the plurality of wheels are four wheelsconfigured from two driving wheels to be driven independently by twomotors respectively and two casters.
 10. The one-man riding mobileapparatus according to claim 2, wherein a vibration Mocking member forblocking transmission of a vibration generated by the vibrators isprovided around the vibrators, respectively.
 11. The one-man ridingmobile apparatus according to claim 2, wherein the boarding base has aplane configured in a rectangular shape having a size substantiallyequal to an A4-sized sheet of paper.
 12. The one-man riding mobileapparatus according to claim 3, wherein the boarding base has a planeconfigured in a rectangular shape having a size substantially equal toan A4-sized sheet of paper.
 13. The one-man riding mobile apparatusaccording to claim 2, wherein the boarding base is configured from achassis for accommodating the motor and the control circuit and an uppercover to be put on the chassis, and the upper cover takes a shape of abox in which almost perpendicular side walls to the board are providedon four sides of a board taking an almost rectangular shape.
 14. Theone-man riding mobile apparatus according to claim 3, wherein theboarding base is configured from a chassis for accommodating the motorand the control circuit and an upper cover to be put on the chassis, andthe upper cover takes a shape of a box in which almost perpendicularside walls to the board are provided on four sides of a board taking analmost rectangular shape.
 15. The one-man riding mobile apparatusaccording to claim 4, wherein the boarding base is configured from achassis for accommodating the motor and the control circuit and an uppercover to be put on the chassis, and the upper cover takes a shape of abox in which almost perpendicular side walls to the board are providedon four sides of a board taking an almost rectangular shape.